Control Systems (State Variable Analysis)

State Space Analysis

 e2t 0 
1. The state transition matrix (t)   3t 
then, 2 (t) is
 0 e  

 e4t 0   e t 0 
(a)   (b)  
 0 e6t   0 e1.5t 
 
 e t 0   e6t 0 
(c)   (d)  
 0 e2t   0 e4t 
 

2. State space representation of a system consists of

(a) only one model (b) only four models

(c) only diagonal model (d) none
.
 2 1  0 0
3. State space representation of a system is X    X(t)    U(t)
 0 2  1 0

 0 0
And Y(t)    x(t) . The system is
 3 0 

(a) Controllable and observable

(b) Controllable and not observable
(c) Not controllable but observable
(d) Neither controllable not observable

 0 4  2
4. State space representation of a system is X(t)    x(t)    u(t) , Y(t)  0 3 x(t) ,
 1 5  1 
then the transfer function of the system is

(2s  1)3 (s  2)3

(a) (b)
s2  4s  5 s2  4s  5

3(s  2) 2(s  3)
(c) (d)
s2  5s  4 s2  5s  4

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 Control Systems (State Variable Analysis)

0 1  0
5. A system with given state model is X    x    u and y  6 1  x
 6 5  1 
(a) Stable, controllable and observable
(b) Stable and observable
(c) Unstable but controllable
(d) Unstable but controllable as well as observable

0 1 0 1
6. The state equation of an LTI system is given by X   x    u . The eigen
 2 3   1 0 
values are
(a)-1 and -2 (b) 0 and -3
(b)1 and -3 (d) 1 and -2

 X1   2 0  0
7. The state space description of a system is given as    x   u
 X 2   0 4  1 
x 
Y  1 0   1  . The above system is
 x2 
(a) controllable and observable
(b) controllable but not observable
(c) observable but not controllable
(d) Neither controllable nor observable

0 1 1 
8. The state model of a system is given as X    x    u , Y= [1 -1]x. The above
 2 2  2
system is
(a) A non minimum phase system
(b) A minimum phase system
(c) An all pass system.
(d) None of the above

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 Control Systems (State Variable Analysis)

9. Which of the following statements are true regarding state transition matrix ( (t))
S1 : (0)  I
S2 : (t1  t2 )  (t1 )  (t 2 )
S3 : 1 (t)  (  t)
(a) only S1 (b) only S2
(c) S1 and S 2 are correct (d) all of them are correct

d2 y dy
10. A control system is represented by differential equation 5  10y  u(t) where
dt 2
dt
u(t) is the input signal. The order of the state matrix and output matrices are

(a) 2  2 and 1  2 respectively (b) 2  2 and 2  1 respectively

(c) 3  3 and 2  1 respectively (d) 3  3 and 1  2 respectively

Y(s) 1
11. The state matrix of the system with the transfer function  3 is
U(s) s  6s  5s  4
2

0 1 0  0 1 0
   
(a)  0 0 1  (b)  0 0 1 
 5  6  4   6 4 5 
  
 0 1 0  0 1 0
   
(c)  0 0 1  (d)  0 0 1
 4 5 6   5 4 6 
  

 X   1 0   x1   2   x1 
12. A system model is described by equation  1   
X        U , Y=[2 1]   .The
 2   0 2   x2   1   x2 
system is
(a) Observable but not controllable (b) controllable but not observable
(c) both observable and controllable (d) not observable and controllable

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 Control Systems (State Variable Analysis)

13. A compensator has the following state model equations

 X 1   0 1   x1   0   x1 
          U and Y   2 0     [1]U . Determine the transfer function of
 X 2   6 5   x2   1   x2 
the compensator

S2  5S  8 S2  5S  4
(a) (b)
S2  5S  6 S2  5S  6
S2  5S  6 S2  5S  6
(c) 2 (d) 2
S  5S  4 S  5S  8

14. If X  AX  BU and Y  CX  DU , then transfer function G(S) =________________

1 1
(a) C SI  A  B  D (b) C SI  A  D  B
1 1
(c) B SI  A  C  D (d) B SI  A  D  C

15. State transition matrix (t) is __________.

(a) L1 (SI  A)1  (b) eAt

(c) a and b (d) none of these

16. If (  ) is state transition matrix, then value of (0) =_____________.

(a) I (b) O
(c) 2I (d) can’t say

17. If state equations are X1  X1  2X2  3U, X2  3X1  X2  U and Y  X 2 , then find
matrix C.

(a) 1 0 (b)  0 1

1  0 
(c)   (d)  
0  1 

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 Control Systems (State Variable Analysis)

d2 y 8dy
18. Consider the following equation   7y  U . Find state matrix A
dt2 dt

 1 0  0 1
(a)   (b)  
 0 7  8 7 
0 1 0 1
(c)   (d)  
7 8 8 7

1 0 
19. Given x(t)    x(t) . State transition matrix of the system is
1 1 

 et 0  te t 0 
(a)  t  (b)   t 
 te et  e te t 
 
 et  e t 0
(c)   (d) None
 e t et 


1 0  1 
20. Given x(t)    x(t); x(0)    Response of the system is
1 1  3

 e t   e t 
(a)  t  (b)  t
 te   te  3e 
t
   
 e t 
(c)  t (d) None
 te  3et 
 

21. The state variable description of a linear system is X  AX , where ‘X’ is a state vector and
0 2
A  , the poles of the system is located at
2 0

(a) -2 & +2 (b) -j2 & +j2

(c) -2 & -2 (d) +2 & +2

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 Control Systems (State Variable Analysis)

22. Separation property of state-transition matrix is

(a) (t t0 )  (t).(t0 ) (b) (t t0 )  1 (t).(t0 )

(c) (t t0 )  (t).1 (t0 ) (d) (t t0 )  1 (t).1 (t0 )

23. The following equation defines a separately exited DC motor in the form of a differential
d2 w B dw k 2 k
equation   w  . The state matrix of the DC motor is
dt 2
J dt L j Lj

 B k 2   k 2 B 
   
(a)  J Lj  (b)  L j J 
 1 0   0 1 
 
 0 1   1 0 
   
(c)  k 2 B  (d)  B k 2 
 L J   J L j 
 j 

1 0
24. The state matrix is A    . The state transition matrix e will be given by
AT

 0 1 

 0 e t   et 0 
(a)   t  (b) 
e 0   0 et 
  
 e t 0  0 e  t
(c)  (d)  t
 0 e t   e 0 
   

 0 2  1 
25. Consider the system with A    ;B    ; C  0 1  . Then the system is
 1 3  1 

(a) Controllable and observable

(b) Controllable but unobservable
(c) Uncontrollable and unobservable
(d) observable but uncontrollable

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 Control Systems (State Variable Analysis)

26. The signal graph is shown below.

The state and output equation for this system is

 x1   0 1  

(a)     x1  0  u, y  5 4   x1 
 21   x  1     x 
 x2   5  2    2
 4 

 x1   0 1   x1  0 
 
 x1 
(b)   
 21       u, y   4 5  
 x2   5   x2  1   x2 
 4 

 x1   0 1   x1  1
 
x 
(c)    21      u, y  5 4   1 
 
 x  x 
 x2   5  2  1  2
 4 

(d) None

27. Consider the closed loop system shown below

Calculate zero input response when   0 ,   2 and the input is unit step signal with
1
x(0)   
1
1 1
(a) y(t)  cos 2t  sin 2t (b) y(t)  cos 2t  sin 2t
2 2
(c) y(t)   2 cos 2t  cos 2t (d) y(t)   2 sin 2t  cos 2t

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 Control Systems (State Variable Analysis)

 1 0  1 
28. The state space representation of a system is given by x    x(t)    u(t) and
 0 2  0
T
1 
y(t)    x(t) , the transfer function of the system is
1 
1 s
(a) (b)
s  3s  2
2
s  3s  2
2

1 1
(c) (d)
s2 s 1

29. In the following electrical circuit, consider the current source i(t) as input. Its transition
matrix is

 e2t cos t  e2t sint 2e2t sint 

(a)  
 e sint
2t
e cos t  e sint 
2t 2t


 e2t cos t  e2t sint 2e2t sint 

(b)  
 e sint
2t
e cos t  e sint 
2t 2t


 e2t sint e2t cos t  e2t sint 

(c)  2t 
 e cos t  e2t sint e2t sint
 

(d) None of these

 (1  t)e t tet 
30. (t)    where (t) is state transition matrix then time constant of
 te t (1  t)e t 

the system is ____________ sec. If tolerance band is 5%.

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 Control Systems (State Variable Analysis)

Solutions
1. Ans: (a)
Solution: (t)  eAt  2 (t)  eA2t i.e. replace ‘t’ by 2t

 e4t 0 
2 (t)   
 0 e6t 


2. Ans: (d)

3. Ans: (a)
Solution: By applying Gilbert’s test, the system is Controllable and observable

4. Ans: (a)
Solution: State space representation of a system is in observable canonical from

3(s  2)
 TF  (or)
s  5s  4
2

s  5 4 
1  
1 s 4  2   1 s 0 
TF  C SI  A  B  0 3     = 5 6 
 s s 5  4  
 1 s  5 1    2 

3(s  2)
TF=
s  5s  4
2

5. Ans: (c)
s 1
Solution: Characteristic equation  sI - A  0 => 0
6 s  5
s(s+5)-6=0 or s  1 and -6

One pole is located at RHS, hence, unstable

Check for controllability

0 1 
Q C  B : AB   
 1 5 
QC  0
 Controllable

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 Control Systems (State Variable Analysis)

Check for observability

C   6 1 
Q0      
CA   6 1 
Q0  0
un-observable

6. Ans: (a)
0 1
Solution: A   
 2 3 

 s 0   0 1   s 1 
Given  sI  A      
0 s   2 3 2 s  3

sI  A  s(s  3)  2  0  s2  3s  2  0 => s  1and 2

7. Ans: (d)
Solution: Check for controllability-

0 0 
QC  B : AB     and QC  0
 1 4 

 System is uncontrollable.

Check for observably-

C   1 0 
Q0       and Qo  0
CA   2 0 

 System is unobservable.

8. Ans: (a)
-1
Solution: The transfer function T(s) = C SI - A  B +D
s+2 1 1
(SI - A)-1 =  × 2
 -2 s  s + 2s + 2

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 Control Systems (State Variable Analysis)

 s2 1 
 2 2 
T(s) = 1 - 1   s + 2s + 2 s + 2s + 2   1    s  4 1  s  1 

 2 s   2   s2 + 2s + 2 2  
s + 2s + 2   2 
 2  
 s + 2s + 2 2
s + 2s + 2 
s  2  2s  4 6s
T(s)  
2
s + 2s + 2 2
s + 2s + 2

A zero exists on RHS of s-plane the system is non-minimum phase system.

9. Ans: (d)
Solution: All three statements on state transition matrix are true

10. Ans: (a)

Solution: Order, n=2
Number of input, m=1
Number of output, p=1
The state model is written as
Xn1   A  X   D  U
nn n1 nn n1

Y 
 P1  C pn  X  a1  D pm Um1
       

11. Ans: (c)

Solution: Controllable canonical Form of representation

12. Ans: (c)

Solution: Test for controllability
 2 2 
Q c = [B AB]=  
 1 2 
Qc  0 , System is controllable
Test for observability
C   2 1 
Q0      
CA   2 2 
Q o  0, System is observable

13. Ans: (b)

Solution: Transfer function= C(SI A)1 B   D

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 Control Systems (State Variable Analysis)

1  (S  5) 1 
(SI A)1   
S  5S  6  6 S 
2

  (S  5) 1   0   1 S2  5S  4
TF  [ 2 0]      1 =
  6 S   1   S2  5S  6 S2  5S  6

14. Ans: (a)

15. Ans: (c)

16. Ans: (a)

Solution: (t)  eAt , put t=0, (0) = e0 =I

17. Ans: (a)

Solution: X  AX  BV, Y  CX  DV
1 2 3
A    ,B    ,C  0 1 
3 1 1 

18. Ans: (a)

Solution: It is equivalent to

Y(s) 1 1 1
  
U(s) (s 1)(s 7) 6(s 1) 6(s 7)

State model from simulation diagram is

 1 0  1 
X(t)    x(t)    u(t)
 0 7 1 

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 Control Systems (State Variable Analysis)

1 1
y(t)     x(t)
 6 6

19. Ans: (a)

Solution: State transition matrix= (t)  L1 SI  A  
1

 

s  1 0  1 s  1 0 
SI  A       SI  A  
1
2  
 1 s  1 (s 1)  1 s  1

 et 0
(t)   t 
 te et 

20. Ans: (c)

Solution: State transition matrix= (t)  L1 SI  A  
1

 
s  1 0  s  1 0 
SI  A    1 s  1   SI  A   (s11)2  1 s  1 
1

   
 et 0
(t)   t 
 te et 
 et 0   1   et 
x(t)  (t) x(0) =  t t     
 te  
e   3   te  3e 
t t


21. Ans: (a)

 S 2 
Solution: CE  SI  A  0,    0,
 2 S 
S2  4  0, S  2

22. Ans: (c)

23. Ans: (c)

Solution: w  x1 , w  x1  x 2
B k 2 k
w  x1  x 2   x 2  x1 
J Lj Lj
 0 1  0 
 w   x1   2   x1   
       k B      k 
 w   x2   L x
J   2   L j 
 j

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 Control Systems (State Variable Analysis)

24. Ans: (b)

 1 
S  1 0  S 1 0 
1 1
Solution: SI  A   2     
 0 S 1 1 
 
S  1     0
 
 S 1

1  et
0
eAt  L1 SI  A    t

0 e 

25. Ans: (d)

Solution: Test for controllability
 1 2 
Q c = [B AB]=  
 1 2 
Q c  0 , System is uncontrollable
Test for observability
C   0 1 
Q0      
CA   1 3 
Q o  0, System is observable

26. Ans: (a)

21
Solution: x2  5x1  x 1
4 2
x1  x2 ; y  5x1  4x2

 x1   0 1  

 x1 0 
   21       u
 x2   5   x 2  1 
 4 
x 
y  5 4   1 
x 
 2

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 Control Systems (State Variable Analysis)

27. Ans: (a)

Solution x2  x1  x2  1

x1  x2 ; y  x1

 x1   0 1   x1  0 
          u
 x2       x2  1 
x 
y  1 0   1 
x 
 2

1   0 1   0 1
Given x(0)    ,   0;   2 => A    
1       2 0 

 s 1 
 1   s 1  1  s2  2 
s  2 
2
(t)  L1 (SI A)1   2   = L  
 s  2   2 s   2 s 
 2 
 s  2 s2  2  

 cos 2t 1 sin 2t 
(t)   2 
 
  2 sin 2t cos 2t 

Zero input response

 sin 2t 
 cos 2t  1
y(t)  (t)  x(0)   2  
  1
  2 sin 2t cos 2t 
1
y(t)  cos 2t  sin 2t
2

28. Ans: (d)

 1 0  1 
Solution: A    , B    ,C  1 1
 0 2  0 
1
1 s  1 0  1   1  s  2 0  1  1
T(S)  C SI  A  B  1 1        1 1     
 0 s  2   0    s  1  s  2    0 s  1  0 s  1

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 Control Systems (State Variable Analysis)

29. Ans: (a)

Solution: The circuit equation can be expressed as
1 diL (t) 1 dv c (t)
 i(t)  iL (t)  v c (t) and  i(t)  iL (t)  3v c (t)
2 dt 2 dt
The state is defined as iL (t)  x1 (t), v c (t)  x2 (t)

The circuit equation in terms of defined state can be written as

x1 (t)   x1 (t)  2x2 (t)  i(t) & x2 (t)   x1 (t)  3x2 (t)  i(t)
State variable model is,
 x1 (t)   1 2   x1 (t)   1 
       
    i(t)
 x2 (t)   1 3   x2 (t)   1 
The state transition matrix can be determined from the relationship
1  1 2 
(t)  L1 sI  A  and A   
 1 3 
 (s 2)  1 2 
   
1 1  1  s3
 2   1  (s 2)  1
2
(s 2)  1 
2
L sI  A   L  2
1
       L
 s  4s  5   1 s  1  
 
 1 (s 2)  1 
 
 (s 2)  1 (s 2)  1 
2 2

 e2t cos t  e2t sint 2e2t sint 

(t)   
 e sint
2t
e cos t  e sint 
2t 2t

30. Ans: 1
 (1  t)e t tet 
Solution: (t)   
 te t (1  t)e t 

(t)  eAt , A  (0) ,
 e t  e t  te t et  tet 
' (t)   t 
 et  tet e  te  e 
t t

 1  1  0 10   0 1 
A  ' (0)    
 1  0 1  0  1   1 2 
s 1
CE  sI  A  0 => =0 => s2  2s  1  0
1 s2
Comparing with standard equation
We get, 2n  2
1
Time constant=  1 sec
n

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 Control Systems (State Variable Analysis)

We recommend you to take the Chapter Test first and then

check the Solutions.

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 Control Systems (State Variable Analysis)

Chapter Test Solutions

1. Ans: 3.5-4.5
Solution: TF the SSR is in CCF
8(2) C(s) 1
TF =  , R(s) 
s  5s  4 R(s)
2
s
82
C()  Lt sC(s)  4
s0 4
C()  4

2. Ans: (d)
Solution: The SSR is in CCF

2(6s  5)
TF  or
s2  4s  3

s  4 1 
1  
1 s 1  0   3 s   0 
TF  C sI  A  B  5 6      = 5 6 
 s s  4  3 2 
3 s  4  2    
2(6s  5)
TF=
s2  4s  3

3. Ans: (a)
deAt
Solution: A
dt t 0

d  e3t e2t  e3t   3e3t 2e2t  3e3t 

  
dt  0 e2t   0 2e2t t0

deAt  3 1
A 
dt t 0 0 2 

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 Control Systems (State Variable Analysis)

4. Ans: (b)
Solution: State space representation is in Jordan canonical form, by applying Gilbert’s test
system is controllable but not observable.

5. Ans: (c)
Solution: The state transition matrix

(s)  (sI  A)1 or (sI  A)  [(s)]1

 s 0  s 1   s 0   s 1 
  [A]  [(s)]    => [A]  
1
  
0 s  5 s  6   0 s  5 s  6 

0 1
[A]=  
 5 6 

6. Ans: (b)

Solution: X3  10u  2x1

X2  3u  x3  4x1

X1  5u  8x1  x2

Y  7u  x1

 8 1 0  5 
   
 X   4 0 1  x   3  u and y  1 0 0  x   7  u
 2 0 0   10 
   

7. Ans: (b)
Solution: Jordan canonical form of representation

8. Ans: 0
Solution: Zero state response= L1 {(S)BU(S)}
 1  (S 5) 0 
(S)  {(SI A)1 }    
 (S 5)(S 10) (S 10)  
  0

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 Control Systems (State Variable Analysis)

Zero State Response = L-1 {(sI-A)-1BU}

 1  
 0  1   1   1  10t 
 (S 10)
Zero state response= L1       L1     0.1  0.1e
   S(S  10)   0 
 0 1   0   S  0   
 (S 5)    
 
T
 0.1  0.1e10t   1 
y(t)       0.1  0.1e
10t

0  0
y(0)  0

9. Ans: (a)
Solution: (t)  L1 SI  A 
1

 s 1 
   s 1 

1 1 s    s2  1 s 1
2
SI  A   2
s  1  1 s 
 2 
s 1 s 1
2

 cos t sint 
(t)   
  sint cos t 

10. Ans: (d)

Solution: Eigen values are given by SI  A  0
 S 1 
   0  S(S 1)  2  0
2 S  1

S2  S  2  0
1  1  8
Eigen values=  -0.5  j1.323
2

11. Ans: (a)

Solution: x1 (t)  x1  3x2
x2 (t)  8x1  k1 x1  k 2 x2
 x1   1 3   x1 
        0  u
 x2   8  k1 k 2   x2   

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 Control Systems (State Variable Analysis)

 1 3 
A 
 8  k1 k 2 
S 1 3
CE  0  SI  A  0
k1  8 s  k 2

S2  (k2  1)S k2  3k1  24  0

1
Given data   ; n2  2
2
1 19
2  2  k 2  1  k 2  3 and 24  3k1  k 2  2  k1 
2 3

12. Ans: (b)

21
Solution: x2  5x1  x 1
4 2

x1  x2 ; y  5x1  4x2

 x1   0 1  

 x1 0 
    21       u
 x2   5   x 2  1 
 4 
x 
y  5 4   1 
x 
 2

Test for controllability

 0 1 
Q c = [B AB]=  
 1  21 
 4 
Qc  0 , System is controllable

Test for observability

C   5 4 
Q0      
CA   20 16 
Q o  0, System is not observable

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 Control Systems (State Variable Analysis)

13. Ans: (c)

Solution: x2  x1  x2  1
x1  x2 ; y  x1
 x1   0 1   x1  0 
          u
 x2       x2  1 
x 
y  1 0   1 
x 
 2

14. Ans: (b)

Solution: x1  5x1  x2  a1u and x2  x1  3x2  u

 x1   5 1   x1  a1 
       u
 x2   1  3 x 2  1 

for uncontrollable system,

Qc  0

 a 5a1  1 
Q c = [B AB]=  1 
 1 a1  3 

a1 5a1  1
  0 =>  a12  3a1  5a1  1  0 => a1  1
1 a1  3

15. Ans: (b)

dv c di
Solution:  ic , 4 L  VL
dt dt
Vc and IL are state variable;
vc
IL  IC  IR => IC  IL  IR  IL 
2
dv c V
 IL  C  0.5Vc  IL
dt 2
And VL  VS  Vc
diL
 0.25(Vs  Vc )  0.25 Vc  0.25 Vs
dt

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 Control Systems (State Variable Analysis)

 v c   0.5 1   v c  0 
     vs
iL   0.25 0  iL  0.25 
Vc
iR   0.5Vc
2
v 
iR  0.5 0   c 
iL 

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